相关论文: LAPS: Improving Incremental LiDAR Mapping using Ac…

Online class-incremental learning aims to enable models to continuously adapt to new classes with limited access to past data, while mitigating catastrophic forgetting. Replay-based methods address this by maintaining a small memory buffer…

In online continual learning, a neural network incrementally learns from a non-i.i.d. data stream. Nearly all online continual learning methods employ experience replay to simultaneously prevent catastrophic forgetting and underfitting on…

LiDAR place recognition plays a crucial role in SLAM, robot navigation, and autonomous driving. However, existing LiDAR place recognition methods often struggle to adapt to new environments without forgetting previously learned knowledge, a…

Simultaneous localization and mapping (SLAM) with implicit neural representations has received extensive attention due to the expressive representation power and the innovative paradigm of continual learning. However, deploying such a…

We present BioSLAM, a lifelong SLAM framework for learning various new appearances incrementally and maintaining accurate place recognition for previously visited areas. Unlike humans, artificial neural networks suffer from catastrophic…

Online reinforcement learning agents are currently able to process an increasing amount of data by converting it into a higher order value functions. This expansion of the information collected from the environment increases the agent's…

This paper proposes LONER, the first real-time LiDAR SLAM algorithm that uses a neural implicit scene representation. Existing implicit mapping methods for LiDAR show promising results in large-scale reconstruction, but either require…

Deep neural networks (DNNs) struggle to learn in dynamic environments since they rely on fixed datasets or stationary environments. Continual learning (CL) aims to address this limitation and enable DNNs to accumulate knowledge…

Modeling scene geometry using implicit neural representation has revealed its advantages in accuracy, flexibility, and low memory usage. Previous approaches have demonstrated impressive results using color or depth images but still have…

Training deep neural networks at the edge on light computational devices, embedded systems and robotic platforms is nowadays very challenging. Continual learning techniques, where complex models are incrementally trained on small batches of…

Safe motion planning in robotics requires planning into space which has been verified to be free of obstacles. However, obtaining such environment representations using lidars is challenging by virtue of the sparsity of their depth…

We propose Matrix ALPS for recovering a sparse plus low-rank decomposition of a matrix given its corrupted and incomplete linear measurements. Our approach is a first-order projected gradient method over non-convex sets, and it exploits a…

Robots benefit from high-fidelity reconstructions of their environment, which should be geometrically accurate and photorealistic to support downstream tasks. While this can be achieved by building distance fields from range sensors and…

High-fidelity measurements of continuum physical fields are essential for scientific discovery and engineering design but remain challenging under sparse and constrained sensing. Conventional reconstruction methods typically rely on fixed…

LiDAR Mapping has been a long-standing problem in robotics. Recent progress in neural implicit representation has brought new opportunities to robotic mapping. In this paper, we propose the multi-volume neural feature fields, called…

Memory replay may be key to learning in biological brains, which manage to learn new tasks continually without catastrophically interfering with previous knowledge. On the other hand, artificial neural networks suffer from catastrophic…

Deep neural networks have revolutionized numerous research fields and applications. Despite their widespread success, a fundamental limitation known as catastrophic forgetting remains, where models fail to retain their ability to perform…

Accurate mapping of large-scale environments is an essential building block of most outdoor autonomous systems. Challenges of traditional mapping methods include the balance between memory consumption and mapping accuracy. This paper…

Building an online 3D LiDAR mapping system that produces a detailed surface reconstruction while remaining computationally efficient is a challenging task. In this paper, we present PlanarMesh, a novel incremental, mesh-based LiDAR…

Continual Learning (CL) aims to learn new data while remembering previously acquired knowledge. In contrast to CL for image classification, CL for Object Detection faces additional challenges such as the missing annotations problem. In this…